You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
66 lines
1.8 KiB
66 lines
1.8 KiB
/* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
* |
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit |
|
*/ |
|
|
|
#include "AP_RCProtocol.h" |
|
#include <AP_Math/AP_Math.h> |
|
#include <RC_Channel/RC_Channel.h> |
|
#include <AP_Vehicle/AP_Vehicle_Type.h> |
|
|
|
AP_RCProtocol_Backend::AP_RCProtocol_Backend(AP_RCProtocol &_frontend) : |
|
frontend(_frontend), |
|
rc_input_count(0), |
|
last_rc_input_count(0), |
|
_num_channels(0) |
|
{} |
|
|
|
bool AP_RCProtocol_Backend::new_input() |
|
{ |
|
bool ret = rc_input_count != last_rc_input_count; |
|
if (ret) { |
|
last_rc_input_count = rc_input_count; |
|
} |
|
return ret; |
|
} |
|
|
|
uint8_t AP_RCProtocol_Backend::num_channels() |
|
{ |
|
return _num_channels; |
|
} |
|
|
|
uint16_t AP_RCProtocol_Backend::read(uint8_t chan) |
|
{ |
|
return _pwm_values[chan]; |
|
} |
|
|
|
/* |
|
provide input from a backend |
|
*/ |
|
void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool in_failsafe) |
|
{ |
|
num_values = MIN(num_values, MAX_RCIN_CHANNELS); |
|
memcpy(_pwm_values, values, num_values*sizeof(uint16_t)); |
|
_num_channels = num_values; |
|
rc_frame_count++; |
|
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware) |
|
if (rc().ignore_rc_failsafe()) { |
|
in_failsafe = false; |
|
} |
|
#endif |
|
if (!in_failsafe) { |
|
rc_input_count++; |
|
} |
|
}
|
|
|